3 # liberator:hostside> ssh bessar 'cd things/trains-bessar/hostside && ./stopgap-controller' | ./gui-displayer -
13 set ch(speeddirnevery) 30
19 # 0 1 (settings) M0 M1 (manual, settings) unset (random) M (manual)
32 set pq {} ;# unset: cdu charged and waiting
35 set askspeeds {10 30 50 80 100 126}
36 #set speeddirn ffff80c3fbcced7f
37 #set speeddirn_fixed {speed126 2 80 0}
38 set speeddirn_fixed {}
40 # unset pointpos($point)
41 # unset segdetect($seg) ;# unset: shown D0; {}: shown D1; or: after id, D1->0
48 global watchdog polarity segdetect
53 if {[info exists watchdog]} { gui "P 1" }
55 foreach seg [array names segdetect] {
67 set b [binary format H* $m]
78 global errorInfo errorCode
79 puts stderr "$m\n$errorCode\n$errorInfo"
89 fconfigure $p -blocking yes
97 catch { after cancel $watchdog; unset watchdog }
101 fileevent $p readable {}
104 proc gui_polarity {} {
107 switch -exact $pname {
108 l { lappend 0 X1 X3 X5 X7 X9; lappend 0 X2 X4 X6 X8 X10 }
109 x { lappend 1 X1 X3 X5 X7 X9; lappend 0 X2 X4 X6 X8 X10 }
110 y { lappend 0 X1 X3 X5 X7 X9; lappend 1 X2 X4 X6 X8 X10 }
113 foreach seg [set $v] {
119 proc polarity {newpname} {
121 debug "polarising $newpname"
122 if {![string compare $pname $newpname]} return
123 tellpic $polmsg($newpname)
128 proc pt_now {how point pos xtra} {
129 set msg a0[lindex $point $pos]
130 debug "$how point $point pos=$pos msg=$msg$xtra"
131 gui "M [lindex $point 2] [expr {!$pos}]"
134 proc pt_must {point newpos} {
135 upvar #0 pointpos($point) pos
137 if {[info exists pos] && $pos == $newpos} return
139 if {[info exists pq]} {
140 lappend pq [list $point $pos]
141 debug "queue point $point pos=$pos l=[llength $pq]"
144 pt_now immed $point $pos {}
147 proc pt_ifthenmust {ifpoint ifposwant thenpoint thenpos} {
148 upvar #0 pointpos($ifpoint) ifpos
149 if {![info exists ifpos] || $ifpos != $ifposwant} return
150 pt_must $thenpoint $thenpos
153 proc badwatchdog {} {
155 puts "watchdog - oh well"
156 if {![info exists pq]} { set pq {} }
163 set pq [lrange $pq 1 end]
164 pt_now nowdo [lindex $v 0] [lindex $v 1] " l=[llength $pq]"
173 set c [read $rand 1]; if {![string length $c]} { error "eof on rand" }
178 proc pt_maybe {point oneisright} {
179 global pointasked lastptchosen
180 if {![info exists pointasked]} {
181 if {![string compare $point $lastptchosen]} return
182 set lastptchosen $point
184 set pos [expr [regexp {^[89a-f]} $x] ? 1 : 0]
185 debug "chose point $point pos=$pos (x=$x)"
186 } elseif {[regexp {^M([01])$} $pointasked dummy pos]} {
187 if {[lsearch -exact {40 02} [lindex $point 0]] >= 0} {
188 set pos [expr {!$pos}]
189 debug "chose point $point pos=$pos manual-rl"
191 debug "chose point $point pos=$pos manual-lr"
194 } elseif {![string compare $pointasked M]} {
195 debug "leave point $point manual"
199 debug "fixed point $point pos=$pos"
205 upvar #0 segdetect($seg) segd
206 if {![info exists segd]} {
207 debug "segment $seg = already"
208 } elseif {[string length $segd]} {
209 debug "segment $seg = pending already"
211 debug "segment $seg = soon"
212 set segd [after 100 s0t $seg]
216 upvar #0 segdetect($seg) segd
217 debug "segment $seg = now"
222 upvar #0 segdetect($seg) segd
223 if {![info exists segd]} {
225 debug "segment $seg ! (overwrites =)"
226 } elseif {[string length $segd]} {
227 debug "segment $seg ! (cancels =)"
230 debug "segment $seg ! already"
237 proc pm_maydetect {d seg} {
258 #proc pm_nodetect {seg} {
260 # if {![string compare $seg [lindex $segsasgot 1]]} {
261 # set segsasgot [list [lindex $segsasgot 1] [lindex $segsasgot 0]]
265 proc pm_detect {seg} {
266 global segs pname segsasgot
267 if {[string compare $seg [lindex $segsasgot 1]]} {
268 set segsasgot [list [lindex $segsasgot 1] $seg]
270 if {[lsearch -exact $segs $seg] < 0} {
273 debug "pm_detect $seg ($segsasgot) ($segs) $pname$seg"
274 # if {[lsearch -exact {
275 # 06 09 0a 04 02 07 14 20
278 # } $seg] < 0} return
279 switch -exact $pname$seg {
280 l16 - l1c - l08 - l0b { polarity y }
281 l10 - l1a - l03 - l05 { polarity x }
282 x07 - x04 - x0a { polarity l }
283 x16 - x1c - x14 - x0b { polarity y }
284 y06 - y04 - y0a { polarity l }
285 y20 - y10 - y1a - y05 { polarity x }
288 04 - 0a { pt_must "00 01 X7" 1; pt_must "40 41 X8" 1 }
289 05 { pt_must "00 01 X7" 0 }
290 0b { pt_must "40 41 X8" 0 }
291 16 - 1c { pt_must "02 03 A5" 0 }
292 1a - 10 { pt_must "42 43 A6" 0 }
293 14 { pt_ifthenmust "02 03 A5" 1 "42 43 A6" 1 }
294 20 { pt_ifthenmust "42 43 A6" 1 "02 03 A5" 1 }
296 switch -exact [join $segs -] {
297 02-07 { pt_maybe "02 03 A5" 1 }
298 07-02 { pt_maybe "00 01 X7" 0 }
299 09-06 { pt_maybe "42 43 A6" 0 }
300 06-09 { pt_maybe "40 41 X8" 1 }
305 # global nmrawhich speeddirn funcs
307 # for {set i 0} {$i < $m} {incr i} {
308 # tellpic_q [lindex [list $speeddirn $funcs] $nmrawhich]
309 # set nmrawhich [expr {!$nmrawhich}]
314 global watchdog testonly speeddirn funcs nmradiv
315 catch { after cancel $watchdog }
316 set watchdog [after 50 watchdog]
317 tellpic_q 9808 ;# 128ms
318 if {[incr nmradiv] > 35} {
319 tellpic_q $speeddirn$funcs
325 debug "got hello, starting up"
339 switch -glob [lindex $m 0] {
340 01 - 02 { tellnmra $m }
341 09 { fp $m; pm_hello }
342 07 { puts "short circuit"; exit 1 }
343 0d { fp $m; badwatchdog }
344 28 { fp $m; pm_charged }
345 9[0-7] { fp $m; pm_maydetect 0 $v }
346 9? { fp $m; pm_maydetect 1 $v }
347 0a - [234567]? { puts "pic debug $m" }
348 * { fp $m; fail "pic unknown $m" }
352 proc onreadp_test {} {
353 if {![gets stdin m]} { return }
361 if {![string length $c]} {
362 if {[eof $p]} { error "eof on device" }
366 if {![info exists rand]} {
371 if {[regexp {^[0-7]} $x]} {
372 if {![regexp {^x} $m]} {
380 proc newspeeddirn {} {
383 set speed [expr {round(($b1 * $b1) / 65535.0 * 100.0 + 26.0)}]
385 set dirn [expr {$b2 / 128}]
387 debug "speeddirn b1=$b1 speed=$speed b2=$b2 dirn=$dirn"
388 return "speed126 $loco $speed $dirn"
394 set value [expr {($b3 & 127) * 16}]
395 debug "funcs b3=$b3 value=[format %x $value]"
396 return "funcs5to8 $loco $value"
399 proc maybechange {thing force} {
401 upvar #0 ${thing}_fixed fixed
402 if {![info exists fixed]} {
404 debug "maybechange $thing forced ..."
406 set rb 0x[randbyte][randbyte]
409 1.0 / (($ch(${thing}every) - $ch(minint)*0.001) * $ch(scale))
411 debug "maybechange $thing rb=$rb no"
414 debug "maybechange $thing rb=$rb yes ..."
418 debug "fixed $thing $fixed"
420 if {![llength $l]} { return 0 }
422 set bin [eval exec ./hostside-old -s/dev/stdout $l]
423 binary scan $bin H* x
424 debug "changed $thing=$x"
431 catch { after cancel $chwa }
432 if {[maybechange speeddirn 0] || [maybechange funcs 0]} {
433 set interval $ch(minint)
437 set chwa [after $interval changewhat]
441 if {[gets stdin l] < 0} {
444 fail "stopgap-controller got eof, quitting"
445 fileevent stdin readable {}
453 global port p testonly
454 fconfigure stdout -buffering none
456 set p [open $port {RDWR NONBLOCK} 0]
458 exec stty -F $port min 1 time 0 -istrip -ocrnl -onlcr -onocr -opost \
459 -ctlecho -echo -echoe -echok -echonl -iexten -isig \
461 9600 clocal cread crtscts -hup -parenb cs8 -cstopb \
462 -ixoff bs0 cr0 ff0 nl0 -ofill -olcuc
464 fconfigure $p -encoding binary -translation binary \
465 -blocking false -buffering none
467 fileevent $p readable onreadp
468 fconfigure stdin -blocking false
469 fileevent stdin readable onreadcmd
472 fconfigure stdin -blocking false
473 fileevent stdin readable onreadp_test
476 after 250 setup_complete
479 proc setup_complete {} {
481 set rand [open /dev/urandom {RDONLY} 0]
482 fconfigure $rand -encoding binary -translation binary
488 # for keyboard control
490 proc ask_speed {updown} {
491 global speeddirn_fixed askspeeds askspeedix loco
492 set ll [llength $askspeeds]
493 if {![info exists askspeedix]} {
494 set askspeedix [expr {
495 int($ll * 0.5 - 0.5 + 0.5 * $updown)
498 incr askspeedix $updown
499 if {$askspeedix < 0} { set askspeedix 0 }
500 if {$askspeedix >= $ll} { set askspeedix [expr {$ll - 1}] }
502 set speed [lindex $askspeeds $askspeedix]
503 set speeddirn_fixed [list speed126 $loco $speed 0]
504 maybechange speeddirn 1
507 proc ask_randspeed {} {
508 global speeddirn_fixed askspeedix
509 catch { unset speeddirn_fixed }
510 catch { unset askspeedix }
511 maybechange speeddirn 1
514 proc ask_manual {rightp} { global pointasked; set pointasked M$rightp }
515 proc ask_figureeight {} { global pointasked; set pointasked 0 }
516 proc ask_loop {} { global pointasked; set pointasked 1 }
517 proc ask_randpath {} { global pointasked; catch { unset pointasked } }